01 -
On the stove over low heat, stir together the cocoa powder and sweetened condensed milk in a medium pan. Keep mixing until smooth and just a little thicker, around 5 minutes.
02 -
Take the pan off the heat and let it cool a bit. Stir in the cream, milk, and vanilla. Chill in the fridge until cold.
03 -
Add the chilled mix to your ice cream maker and churn it based on your machine's instructions. During churning, toss in the marshmallows, chocolate chips, and peanuts.